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itersolve: Use more explicit list traversal in itersolve_generate_steps() 

Avoid using doubles as flags when generating steps during "lead up to
stepper activity".  Instead, explicitly track how many inactive move
entries are skipped and only generate steps for those entries.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-05-04 14:00:53 -04:00
parent 7843c23b8c
commit 9a92b346fd
1 changed files with 44 additions and 28 deletions
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72
klippy/chelper/itersolve.c
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@ -167,42 +167,58 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
while (last_flush_time >= m->print_time + m->move_t)
m = list_next_entry(m, node);
double force_steps_time = sk->last_move_time + sk->gen_steps_post_active;
int skip_count = 0;
for (;;) {
if (last_flush_time >= flush_time)
return 0;
double start = m->print_time, end = start + m->move_t;
if (start < last_flush_time)
start = last_flush_time;
if (end > flush_time)
end = flush_time;
double move_start = m->print_time, move_end = move_start + m->move_t;
if (check_active(sk, m)) {
if (sk->gen_steps_pre_active
&& start > last_flush_time + .000000001) {
if (skip_count && sk->gen_steps_pre_active) {
// Must generate steps leading up to stepper activity
force_steps_time = start;
if (last_flush_time < start - sk->gen_steps_pre_active)
last_flush_time = start - sk->gen_steps_pre_active;
while (m->print_time > last_flush_time)
m = list_prev_entry(m, node);
continue;
double abs_start = move_start - sk->gen_steps_pre_active;
if (abs_start < last_flush_time)
abs_start = last_flush_time;
if (abs_start < force_steps_time)
abs_start = force_steps_time;
struct move *pm = list_prev_entry(m, node);
while (--skip_count && pm->print_time > abs_start)
pm = list_prev_entry(pm, node);
do {
int32_t ret = itersolve_gen_steps_range(sk, pm, abs_start
, flush_time);
if (ret)
return ret;
pm = list_next_entry(pm, node);
} while (pm != m);
}
// Generate steps for this move
int32_t ret = itersolve_gen_steps_range(sk, m, start, end);
int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time
, flush_time);
if (ret)
return ret;
sk->last_move_time = last_flush_time = end;
force_steps_time = end + sk->gen_steps_post_active;
} else if (start < force_steps_time) {
// Must generates steps just past stepper activity
if (end > force_steps_time)
end = force_steps_time;
int32_t ret = itersolve_gen_steps_range(sk, m, start, end);
if (ret)
return ret;
last_flush_time = end;
if (move_end >= flush_time) {
sk->last_move_time = flush_time;
return 0;
}
skip_count = 0;
sk->last_move_time = move_end;
force_steps_time = sk->last_move_time + sk->gen_steps_post_active;
} else {
if (move_start < force_steps_time) {
// Must generates steps just past stepper activity
double abs_end = force_steps_time;
if (abs_end > flush_time)
abs_end = flush_time;
int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time
, abs_end);
if (ret)
return ret;
skip_count = 1;
} else {
// This move doesn't impact this stepper - skip it
skip_count++;
}
if (flush_time + sk->gen_steps_pre_active <= move_end)
return 0;
}
if (flush_time + sk->gen_steps_pre_active <= m->print_time + m->move_t)
return 0;
m = list_next_entry(m, node);
}
}